System and method for improving dynamic stability of remote driving of excavator

Abstract

The invention discloses a system and a method for improving dynamic stability of remote driving of an excavator. The system comprises a vehicle body sensor, a vehicle-mounted controller, a local base station, a remote controller, a remote handle and a remote pedal. The remote handle and the remote pedal are both electrically connected with the remote controller, and the vehicle-mounted controller and the remote controller are both electrically connected with the local base station. Complex data calculation is carried out by utilizing strong computing power of a local base station, a traditional mode of carrying out data processing by using a vehicle-mounted controller and a remote controller is replaced, the calculation efficiency can be remarkably improved, the delay is reduced, and the stability of a control system is improved; the dynamic stability coefficient K of the whole vehicle is calculated in real time through the local base station, a driver can conveniently and accurately control the speed of the whole vehicle according to the dynamic stability coefficient K, the vehicle is effectively prevented from overturning or being out of control, the safety of remote driving is improved, meanwhile, on the premise that safety is guaranteed, the whole vehicle can reach the high working speed, and the safety of remote driving is improved. And the working efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote driving of excavators, and in particular to a system and method for improving dynamic stability of remote driving of excavators. Background Art

[0002] In the field of remote driving technology for excavators, the existing remote driving technology solutions mainly have the following problems: First, the existing remote driving system only displays various parameters on the screen, which is quite different from the feeling obtained in vehicle operation, and cannot accurately judge the vehicle body state and overturning tendency, making it difficult to achieve precise speed control; second, there is a lack of intelligent control algorithms that organically combine safety and efficiency, which makes it difficult to achieve a dynamic balance between the two; finally, the addition of sensors leads to an increase in the amount of calculation, local calculations have high requirements for the on-board controller, and remote calculations have high latency. Therefore, there is an urgent need for a system and method that can achieve a balance between action speed and dynamic stability, reduce the risk of excavator overturning during remote driving, improve the speed and safety of operations, and improve dynamic stability in remote driving of excavators that improves operating efficiency while reducing latency. Summary of the invention

[0003] In view of this, the present invention provides a system for improving dynamic stability of remote driving of an excavator, which can improve the safety and stability of remote driving, improve the computing efficiency of the remote driving system, reduce delays and improve the stability of the control system.

[0004] To achieve the above object, the present invention provides the following technical solutions: A system for remote driving an excavator to improve dynamic stability comprises a vehicle body sensor, an on-board controller, a local base station, a remote controller, a remote handle and a remote pedal.

[0005] Among them, the body sensors include inclination sensors, slew angle sensors and rotation angle sensors, and the inclination sensors, slew angle sensors and rotation angle sensors are all electrically connected to the vehicle controller; the remote handle and remote foot pedal are both electrically connected to the remote controller, and the vehicle controller and the remote controller are both electrically connected to the local base station.

[0006] Preferably, the local base station includes a vehicle inclination angle calculation module, a dynamic stability calculation module and an operation output calculation module.

[0007] Preferably, the rotation angle sensor includes a boom rotation angle sensor, an arm rotation angle sensor and a bucket rotation angle sensor.

[0008] The present invention also discloses a method for improving dynamic stability of an excavator by remote driving, which is applied to the above-mentioned system for improving dynamic stability of an excavator by remote driving, and includes: a body sensor obtains real-time data of the entire vehicle, and transmits the real-time data to a vehicle-mounted controller, which then transmits the real-time data to a local base station; the local base station analyzes and calculates the real-time data to obtain calculation results and operation suggestions based on the calculation results, and the local base station transmits the calculation results and operation suggestions to the remote controller; the remote controller displays the calculation results and operation suggestions on a display screen on the remote handle, and the operator can operate the remote handle and remote foot pedal according to the calculation results and operation suggestions displayed on the display screen; the remote controller obtains input values ​​of the remote handle and remote foot pedal, and sends the input values ​​to the local base station; the local base station analyzes and calculates the input values ​​to calculate output values ​​of the remote handle and remote foot pedal, and transmits the output values ​​to the vehicle-mounted controller; the vehicle-mounted controller controls the action of the excavator according to the output values.

[0009] Preferably, the real-time data of the whole vehicle acquired by the vehicle body sensor includes: the tilt angle data of the excavator in the front-to-back direction and the tilt angle data in the left-to-right direction acquired by the inclination sensor; the upper vehicle body rotation angle data acquired by the rotation angle sensor; and the rotation angle data of the excavator's working device acquired by the rotation angle sensor.

[0010] Preferably, the rotation angle data of the working device includes: rotation angle data of the excavator boom acquired by a boom rotation angle sensor; rotation angle data of the excavator boom acquired by a boom rotation angle sensor; rotation angle data of the excavator bucket acquired by a bucket rotation angle sensor.

[0011] Preferably, the local base station analyzes and calculates the real-time data to obtain calculation results and operational suggestions based on the calculation results, including: the vehicle inclination angle calculation module in the local base station calculates the vehicle inclination angle data and the vehicle rotation angle data based on the inclination angle of the excavator in the front and rear directions, the inclination angle data of the excavator in the left and right directions, and the upper body rotation angle data; the dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operational suggestions based on the upper body rotation angle data, the vehicle inclination angle data, the vehicle rotation angle data and the rotation angle data of the excavator's working device.

[0012] Preferably, the local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote foot pedal, including: a stability and speed coefficient table is preset in the operation output calculation module in the local base station, and the operation output calculation module can quickly find the corresponding speed coefficient V according to the dynamic stability coefficient K and the stability and speed coefficient table, and calculate the remote handle output value and the remote foot pedal output value according to the speed coefficient V, the remote handle input value and the remote foot pedal input value.

[0013] The beneficial effects of the present invention are as follows: compared with the prior art, the system for improving dynamic stability of remote driving of an excavator disclosed in the present application utilizes the powerful computing power of a local base station to perform complex data calculations, replacing the traditional method of using an on-board controller and a remote controller for data processing, thereby significantly improving computing efficiency, reducing latency, and improving the stability of the control system; by utilizing the local base station to calculate the dynamic stability coefficient K of the entire vehicle in real time, the driver can accurately control the speed of the entire vehicle based on the dynamic stability coefficient K, effectively preventing the vehicle from overturning or losing control, and improving the safety of remote driving. At the same time, the entire vehicle can reach a higher working speed while ensuring safety, thereby effectively improving work efficiency.

[0014] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a system flow chart of the present invention; Figure 2 It is a working flow chart of the vehicle inclination angle calculation module of the present invention; Figure 3 is a work flow chart of the dynamic stability calculation module of the present invention; Figure 4 It is a workflow diagram of the operation output calculation module of the present invention. DETAILED DESCRIPTION

[0016] The invention discloses a system for improving dynamic stability of remote driving of an excavator, which can improve the safety and stability of remote driving, improve the calculation efficiency of the remote driving system, reduce delay and improve the stability of the control system.

[0017] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0018] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0019] Reference below Figures 1 to 4 A system for improving dynamic stability of an excavator by remote driving in an embodiment of the present invention is described.

[0020] The embodiment of the present application discloses a system for remote driving of an excavator to improve dynamic stability, including: a vehicle body sensor, a vehicle-mounted controller, a local base station, a remote controller, a remote handle and a remote pedal.

[0021] Among them, the body sensors include inclination sensors, slew angle sensors and rotation angle sensors, and the inclination sensors, slew angle sensors and rotation angle sensors are all electrically connected to the vehicle controller; the remote handle and remote foot pedal are both electrically connected to the remote controller, and the vehicle controller and the remote controller are both electrically connected to the local base station.

[0022] The inclination sensor is used to obtain the inclination angle data of the excavator in the front and rear directions and the left and right directions. The slew angle sensor is used to obtain the slew angle data of the upper body. The rotation angle sensor is used to obtain the rotation angle data of the working device of the excavator. The inclination sensor, slew angle sensor and rotation angle sensor are all electrically connected to the vehicle-mounted controller, and transmit the angle data obtained by each to the vehicle-mounted controller. The vehicle-mounted controller sends the angle data to the local base station after performing certain processing on the angle data for the local base station to perform data analysis and calculation.

[0023] The local base station can obtain the dynamic stability coefficient K of the whole vehicle and the operation suggestions of the whole vehicle by analyzing and calculating the angle data. The local base station sends the dynamic stability coefficient K of the whole vehicle and the operation suggestions of the whole vehicle to the remote controller, and the remote controller displays the dynamic stability coefficient K of the whole vehicle and the operation suggestions of the whole vehicle on the display screen of the remote handle for the driver to view, which can help the driver accurately judge the state and overturning tendency of the vehicle body. The driver can refer to the dynamic stability coefficient K of the whole vehicle and the operation suggestions of the whole vehicle to control the remote handle and remote pedal, which can facilitate the driver to achieve accurate control of the driving speed.

[0024] The remote controller is used to transmit the input data of the driver's remote handle and remote foot pedal to the local base station. The local base station can calculate the output data of the remote handle and remote foot pedal based on the input data and the dynamic stability coefficient K of the vehicle, and transmit the output data to the on-board controller, which then performs corresponding data processing and outputs to control the excavator's movements.

[0025] This embodiment uses the powerful computing power of the local base station to perform complex data calculations, replacing the traditional method of using the vehicle controller and the remote controller for data processing, which can significantly improve the computing efficiency, reduce latency and improve the stability of the control system; by using the local base station to calculate the dynamic stability coefficient K of the whole vehicle in real time, it is convenient for the driver to accurately control the speed of the whole vehicle according to the dynamic stability coefficient K, effectively prevent the vehicle from overturning or losing control, and improve the safety of remote driving. At the same time, it can also enable the whole vehicle to reach a higher working speed while ensuring safety, effectively improving work efficiency.

[0026] In some embodiments, the local base station includes a vehicle inclination angle calculation module, a dynamic stability calculation module and an operation output calculation module, wherein the vehicle inclination angle calculation module can calculate the vehicle's inclination angle data and vehicle's rotation angle data based on the vehicle's real-time data transmitted by the vehicle-mounted controller; the dynamic stability calculation module can calculate the vehicle's dynamic stability coefficient K and vehicle operation suggestions based on the vehicle's inclination angle data, vehicle's rotation angle data and vehicle's real-time data; the operation output calculation module can calculate the remote handle output value and remote pedal output value based on the vehicle's dynamic stability coefficient K, the remote handle input value and the remote pedal input value.

[0027] In some embodiments, the rotation angle sensor includes a boom rotation angle sensor, a dipper arm rotation angle sensor and a bucket rotation angle sensor, wherein the boom rotation angle sensor can obtain the rotation angle data of the excavator boom; the dipper arm rotation angle sensor can obtain the rotation angle data of the excavator dipper arm; and the bucket rotation angle sensor can obtain the rotation angle data of the excavator bucket.

[0028] The present invention also discloses a method for improving dynamic stability of an excavator by remote driving, which is applied to the system for improving dynamic stability of the excavator by remote driving, and includes the following contents: a body sensor obtains real-time data of the whole vehicle, and transmits the real-time data to a vehicle-mounted controller, which then transmits the real-time data to a local base station; the local base station analyzes and calculates the real-time data to obtain calculation results and operation suggestions based on the calculation results, and the local base station transmits the calculation results and operation suggestions to the remote controller; the remote controller displays the calculation results and operation suggestions on a display screen on the remote handle, and the operator can operate the remote handle and remote foot pedal according to the calculation results and operation suggestions displayed on the display screen; the remote controller obtains input values ​​of the remote handle and remote foot pedal, and sends the input values ​​to the local base station; the local base station analyzes and calculates the input values ​​to calculate output values ​​of the remote handle and remote foot pedal, and transmits the output values ​​to the vehicle-mounted controller; the vehicle-mounted controller controls the action of the excavator according to the output values.

[0029] In some embodiments, the real-time data of the whole vehicle obtained by the vehicle body sensor includes: the tilt angle data of the excavator in the front and rear directions and the tilt angle data in the left and right directions obtained by the inclination sensor; the upper vehicle body rotation angle data obtained by the rotation angle sensor; and the rotation angle data of the excavator's working device obtained by the rotation angle sensor.

[0030] In some embodiments, the rotation angle data of the working device includes: the rotation angle data of the excavator boom obtained by the boom rotation angle sensor; the rotation angle data of the excavator boom obtained by the boom rotation angle sensor; the rotation angle data of the excavator bucket obtained by the bucket rotation angle sensor.

[0031] In some embodiments, the local base station analyzes and calculates the real-time data to obtain calculation results and operational suggestions based on the calculation results, including: the vehicle inclination angle calculation module in the local base station calculates the vehicle inclination angle data and the vehicle rotation angle data based on the inclination angle of the excavator in the front and rear directions, the inclination angle data of the excavator in the left and right directions, and the upper body rotation angle data; the dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operational suggestions based on the upper body rotation angle data, the vehicle inclination angle data, the vehicle rotation angle data and the rotation angle data of the excavator's working device.

[0032] The calculation process of the vehicle inclination angle calculation module is as follows: S1. Establish a spatial coordinate system XYZ, define vector A according to the inclination angle of the excavator in the front and rear directions, define vector B according to the inclination angle data of the excavator in the left and right directions, and calculate the spatial coordinates of vector A and vector B; S2. Define the normal vector C of the inclined plane, and calculate the spatial coordinates of the normal vector C according to normal vector C=vector A×vector B; S3. According to the angle between the inclined plane and the horizontal plane being equal to the angle between the normal vector C and the Z axis, the inclination angle of the vehicle can be calculated; S4. Calculate the corresponding vehicle rotation angle according to the inclination angle of the vehicle.

[0033] The calculation process of the dynamic stability calculation module is as follows: S1. With the center of rotation as the origin, the rotation plane as the XOY plane, the direction of the vehicle working device as the positive direction of the X-axis, and the upper body fixed, a spatial coordinate system is established; S2. The chassis rotates the negative rotation angle; S3. According to the rotation angle of the whole vehicle, the coordinates of the four vertices where the chassis contacts the ground can be calculated; S4. According to the rotation angle of the upper body working device, the coordinates of the center of gravity of the boom, the dipper arm, and the bucket can be calculated; S5. According to the tilt angle of the whole vehicle and the rotation angle of the whole vehicle, the current overturning moment M1 of the four side lines of the chassis can be calculated; S6. According to the rotation angle of the whole vehicle and the rotation angle history of the upper body working device, the rotation angle of the whole vehicle and the rotation angle of the upper body working device after unit time are calculated, and the steps of S2-S5 are repeated to calculate a single =S7, calculate the composite overturning moment M, M=i*M1+j*M2 (i is the current overturning moment coefficient, j is the future overturning moment coefficient), where i and j are both greater than 0, and i+j=1. In addition, the values ​​of i and j can be adjusted according to actual conditions; S8, calculate the dynamic stability coefficient K, K=(1-M / M3)*100, where M3 is the preset overturning moment, which is measured experimentally; S9, by increasing or decreasing the unit length of the vehicle's turning angle and the rotation angle of the upper body tooling device, the overturning moment after a specific operation can be predicted. Among the predicted multiple overturning moments, select the one that can reduce the overturning moment the most, and transmit it to the remote controller to give corresponding operation suggestions.

[0034] In some embodiments, the local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote foot pedal, including: a stability and speed coefficient table is preset in the operation output calculation module in the local base station, and the operation output calculation module can quickly find the corresponding speed coefficient V according to the dynamic stability coefficient and the stability and speed coefficient table, and calculate the remote handle output value and the remote foot pedal output value according to the speed coefficient V, the remote handle input value and the remote foot pedal input value.

[0035] The calculation process of the operation output calculation module is: S1. According to the dynamic stability coefficient K, refer to the stability and speed coefficient table to find the speed coefficient V corresponding to the current dynamic stability coefficient K; S2. Calculate the remote handle output value and the remote pedal output value, the remote handle output value = speed coefficient V*remote handle input value / 100, the remote pedal output value = speed coefficient V*remote pedal input value / 100.

[0036] In this embodiment, the preset stability and speed coefficient table can be adjusted according to actual conditions.

[0037] Other structures and operations of the system for improving dynamic stability of an excavator by remote driving and the method for improving dynamic stability of an excavator by remote driving according to the embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0039] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A system for improving dynamic stability of an excavator by remote driving, characterized in that: include: Body sensor, vehicle controller, local base station, remote controller, remote handle and remote pedal; The vehicle body sensor comprises an inclination sensor, a slew angle sensor and a rotation angle sensor, and the inclination sensor, the slew angle sensor and the rotation angle sensor are all electrically connected to the vehicle-mounted controller; The remote handle and the remote foot pedal are both electrically connected to the remote controller, and the vehicle-mounted controller and the remote controller are both electrically connected to the local base station.

2. The system for improving dynamic stability of an excavator by remote driving according to claim 1, characterized in that: The local base station includes a vehicle inclination angle calculation module, a dynamic stability calculation module and an operation output calculation module.

3. The system for improving dynamic stability of an excavator by remote driving according to claim 1, characterized in that: The rotation angle sensor includes a boom rotation angle sensor, an arm rotation angle sensor and a bucket rotation angle sensor.

4. A method for improving dynamic stability of an excavator by remote driving, characterized in that: The system for improving dynamic stability of the remote driving of the above-mentioned excavator includes: The vehicle body sensor obtains the real-time data of the vehicle and transmits the real-time data to the vehicle controller, which then transmits the real-time data to the local base station; The local base station analyzes and calculates the real-time data to obtain calculation results and operation suggestions based on the calculation results, and the local base station transmits the calculation results and operation suggestions to the remote controller; The remote controller displays the calculation results and operation suggestions on the display screen of the remote handle, and the operator can operate the remote handle and remote pedal according to the calculation results and operation suggestions displayed on the display screen; The remote controller obtains the input values ​​of the remote handle and the remote pedal, and sends the input values ​​to the local base station; The local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote pedal, and transmits the output values ​​to the vehicle controller; The on-board controller controls the excavator's movements based on the output values.

5. The method for improving dynamic stability of an excavator by remote driving according to claim 4, characterized in that: The real-time data of the vehicle obtained by the body sensor includes: The tilt angle data of the excavator in the front-to-back direction and the left-to-right direction acquired by the tilt sensor; The upper vehicle body rotation angle data obtained by the rotation angle sensor; The rotation angle sensor acquires the rotation angle data of the working device of the excavator.

6. The method for improving dynamic stability of an excavator by remote driving according to claim 5, characterized in that: The rotation angle data of the working device includes: The rotation angle data of the excavator boom obtained by the boom rotation angle sensor; The excavator arm rotation angle data obtained by the arm rotation angle sensor; The bucket rotation angle sensor obtains the rotation angle data of the excavator bucket.

7. The method for improving dynamic stability of an excavator by remote driving according to claim 5, characterized in that: The local base station analyzes and calculates the real-time data to obtain calculation results and operational suggestions based on the calculation results, including: The vehicle tilt angle calculation module in the local base station calculates the vehicle tilt angle data and the vehicle rotation angle data according to the tilt angle data of the excavator in the front-back direction, the tilt angle data of the excavator in the left-right direction, and the rotation angle data of the upper vehicle body; The dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operation suggestions based on the upper body rotation angle data, the vehicle tilt angle data, the vehicle rotation angle data and the rotation angle data of the excavator's working device.

8. The method for improving dynamic stability of an excavator by remote driving according to claim 7, characterized in that: The local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and remote pedal including: The operation output calculation module in the local base station is preset with a stability and speed coefficient table. The operation output calculation module can quickly find the corresponding speed coefficient V according to the dynamic stability coefficient K and the stability and speed coefficient table, and calculate the remote handle output value and the remote foot pedal output value according to the speed coefficient V, the remote handle input value and the remote foot pedal input value.

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